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Merge pull request #2499 from xhan0619/fix-render-mesh

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Fix render mesh
This commit is contained in:
erwincoumans
2019-11-21 16:38:54 -08:00
committed by GitHub
parent e5cd117c01 f237a40621
commit 574343405d
7 changed files with 131 additions and 89 deletions
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18
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -338,6 +338,24 @@ B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle
return 0;
}
B3_SHARED_API int b3LoadSoftBodyUpdateSimMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
int len = strlen(filename);
if (len < MAX_FILENAME_LENGTH)
{
strcpy(command->m_loadSoftBodyArguments.m_simFileName, filename);
}
else
{
command->m_loadSoftBodyArguments.m_simFileName[0] = 0;
}
command->m_updateFlags |= LOAD_SOFT_BODY_SIM_MESH;
return 0;
}
B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -375,7 +375,6 @@ extern "C"
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand2(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API int b3InitResetSimulationSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
///Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED.
///Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle);
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName);
@@ -634,6 +633,8 @@ extern "C"
B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin);
B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ);
B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW);
B3_SHARED_API int b3LoadSoftBodyUpdateSimMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename);
B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda);
B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda);
B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping);
B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness);

31
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1709,7 +1709,6 @@ struct PhysicsServerCommandProcessorInternalData
m_dispatcher(0),
m_solver(0),
m_collisionConfiguration(0),
#ifndef SKIP_DEFORMABLE_BODY
m_deformablebodySolver(0),
#endif
@@ -2665,9 +2664,11 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags)
if ((0==m_data->m_dynamicsWorld) && (0==(flags&RESET_USE_DISCRETE_DYNAMICS_WORLD)))
{
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
m_data->m_solver = new btMultiBodyConstraintSolver;
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
#else
m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
#endif
}
@@ -8083,27 +8084,21 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
}
const std::string& error_message_prefix = "";
std::string out_found_filename;
std::string out_found_sim_filename;
std::string out_found_filename, out_found_sim_filename;
int out_type(0), out_sim_type(0);
bool render_mesh_is_sim_mesh = true;
bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
if (out_type == UrdfGeometry::FILE_OBJ)
{
foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type);
render_mesh_is_sim_mesh = !foundFile;
}
if (render_mesh_is_sim_mesh)
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SIM_MESH)
{
bool foundSimMesh = UrdfFindMeshFile(fileIO, pathPrefix, loadSoftBodyArgs.m_simFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type);
}
else
{
out_sim_type = out_type;
out_found_sim_filename = out_found_filename;
}
if (out_sim_type == UrdfGeometry::FILE_OBJ)
{
std::vector<tinyobj::shape_t> shapes;
@@ -8192,6 +8187,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
deformWorld->addForce(psb, springForce);
m_data->m_lf.push_back(springForce);
}
}
#endif
}
@@ -8202,13 +8198,11 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld)
{
if (!render_mesh_is_sim_mesh)
// load render mesh
if (out_found_sim_filename != out_found_filename)
{
// load render mesh
{
tinyobj::attrib_t attribute;
std::vector<tinyobj::shape_t> shapes;
@@ -8244,7 +8238,6 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
}
}
btSoftBodyHelpers::interpolateBarycentricWeights(psb);
}
else

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -505,6 +505,7 @@ enum EnumLoadSoftBodyUpdateFlags
LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12,
LOAD_SOFT_BODY_USE_SELF_COLLISION = 1<<13,
LOAD_SOFT_BODY_USE_FACE_CONTACT = 1<<14,
LOAD_SOFT_BODY_SIM_MESH = 1<<15,
};
enum EnumSimParamInternalSimFlags
@@ -535,6 +536,7 @@ struct LoadSoftBodyArgs
double m_NeoHookeanLambda;
double m_NeoHookeanDamping;
int m_useFaceContact;
char m_simFileName[MAX_FILENAME_LENGTH];
};
struct b3LoadSoftBodyResultArgs

2
examples/pybullet/examples/deformable_anchor.py
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@@ -2,8 +2,8 @@ import pybullet as p
from time import sleep
physicsClient = p.connect(p.GUI)
p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
gravZ=-10
p.setGravity(0, 0, gravZ)

28
examples/pybullet/examples/test_inertia.py Normal file
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@@ -0,0 +1,28 @@
import pybullet as p
from time import sleep
physicsClient = p.connect(p.GUI)
useDeformable = True
if useDeformable:
p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
gravZ=-10
p.setGravity(0, 0, gravZ)
planeOrn = [0,0,0,1]#p.getQuaternionFromEuler([0.3,0,0])
planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
boxId = p.loadURDF("cube.urdf", [0,1,2],useMaximalCoordinates = True)
clothId = p.loadSoftBody("bunny.obj", basePosition = [0,0,2], scale = 0.5, mass = 1., useNeoHookean = 0, useBendingSprings=1, useMassSpring=1, springElasticStiffness=100, springDampingStiffness=.001, useSelfCollision = 0, frictionCoeff = .5, useFaceContact=1)
p.setTimeStep(0.0005)
p.setRealTimeSimulation(1)
while p.isConnected():
p.setGravity(0,0,gravZ)
sleep(1./240.)